cmake_minimum_required(VERSION 3.8)
project(v_cal)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)

# Add include directories

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

add_executable(cal_pub_sub 
  src/cal_pub_sub.cpp
  # 添加其他函数库的源文件路径
  src/rfnn_ekf_cal_v/EKF_weight_v3.cpp
  src/rfnn_ekf_cal_v/RFNN_EKF_cal_v.cpp
  src/rfnn_ekf_cal_v/RFNN_EKF_cal_v_initialize.cpp
  src/rfnn_ekf_cal_v/RFNNpro_v.cpp
  )
ament_target_dependencies(cal_pub_sub rclcpp std_msgs)

# 设置包含目录
target_include_directories(cal_pub_sub PUBLIC
  ${PROJECT_SOURCE_DIR}/include  # 包含整个include目录
  ${PROJECT_SOURCE_DIR}/src/rfnn_ekf_cal_v  # 如果需要，也可以包含src目录
)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  set(ament_cmake_copyright_FOUND TRUE)
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()


ament_package()

install(TARGETS
  cal_pub_sub
  DESTINATION lib/${PROJECT_NAME}
)